Planner Server¶
Source code on Github.
The Planner Server implements the server for handling the planner requests for the stack and host a map of plugin implementations. It will take in a goal and a planner plugin name to use and call the appropriate plugin to compute a path to the goal.
Parameters¶
- planner_plugins
Type
Default
vector<string>
[‘GridBased’]
- Description
List of Mapped plugin names for parameters and processing requests.
- Note
Each plugin namespace defined in this list needs to have a
plugin
parameter defining the type of plugin to be loaded in the namespace.Example:
planner_server: ros__parameters: planner_plugins: ["GridBased"] GridBased: plugin: "nav2_navfn_planner/NavfnPlanner"
- expected_planner_frequency
Type
Default
double
[20.0]
- Description
Expected planner frequency. If the current frequency is less than the expected frequency, display the warning message.
Default Plugins¶
When the planner_plugins
parameter is not overridden, the following default plugins are loaded:
Namespace
Plugin
“GridBased”
“nav2_navfn_planner/NavfnPlanner”
Example¶
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
planner_plugins: ['GridBased']
GridBased:
plugin: 'nav2_navfn_planner/NavfnPlanner'